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<div class="title">approx_nearest_pair_point_cloud_coherence.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/search/octree.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/nearest_pair_point_cloud_coherence.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  {</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html">   17</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html">ApproxNearestPairPointCloudCoherence</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> NearestPairPointCloudCoherence&lt;PointInT&gt;::PointCoherencePtr PointCoherencePtr;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> NearestPairPointCloudCoherence&lt;PointInT&gt;::PointCloudInConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      <span class="comment">//using NearestPairPointCloudCoherence&lt;PointInT&gt;::search_;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence&lt;PointInT&gt;::maximum_distance_</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence&lt;PointInT&gt;::target_input_</a>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence&lt;PointInT&gt;::point_coherences_</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence&lt;PointInT&gt;::coherence_name_</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence&lt;PointInT&gt;::new_target_</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence&lt;PointInT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ade1643a78bd318139e4634f4a9c15e66">   31</a></span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ade1643a78bd318139e4634f4a9c15e66">ApproxNearestPairPointCloudCoherence</a> () : </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence</a>&lt;PointInT&gt; (), search_ ()</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      {</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html#a886cd3411611a87520c7d3f387f23953">coherence_name_</a> = <span class="stringliteral">&quot;ApproxNearestPairPointCloudCoherence&quot;</span>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      }</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5534e4bb731698acf41bbd76e02b9c62">initCompute</a> ();</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a00c2e35253ae11b800dd8d3a67247f3d">computeCoherence</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud, <span class="keyword">const</span> IndicesConstPtr &amp;indices, <span class="keywordtype">float</span> &amp;w_j);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">typename</span> boost::shared_ptr&lt;pcl::search::Octree&lt;PointInT&gt; &gt; search_;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    };</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html">pcl::tracking::ApproxNearestPairPointCloudCoherence</a></div><div class="ttdoc">ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate...</div><div class="ttdef"><b>Definition:</b> approx_nearest_pair_point_cloud_coherence.h:18</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a00c2e35253ae11b800dd8d3a67247f3d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a00c2e35253ae11b800dd8d3a67247f3d">pcl::tracking::ApproxNearestPairPointCloudCoherence::computeCoherence</a></div><div class="ttdeci">virtual void computeCoherence(const PointCloudInConstPtr &amp;cloud, const IndicesConstPtr &amp;indices, float &amp;w_j)</div><div class="ttdoc">compute the nearest pairs and compute coherence using point_coherences_</div><div class="ttdef"><b>Definition:</b> approx_nearest_pair_point_cloud_coherence.hpp:12</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a5534e4bb731698acf41bbd76e02b9c62"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5534e4bb731698acf41bbd76e02b9c62">pcl::tracking::ApproxNearestPairPointCloudCoherence::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> approx_nearest_pair_point_cloud_coherence.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_ade1643a78bd318139e4634f4a9c15e66"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ade1643a78bd318139e4634f4a9c15e66">pcl::tracking::ApproxNearestPairPointCloudCoherence::ApproxNearestPairPointCloudCoherence</a></div><div class="ttdeci">ApproxNearestPairPointCloudCoherence()</div><div class="ttdoc">empty constructor</div><div class="ttdef"><b>Definition:</b> approx_nearest_pair_point_cloud_coherence.h:31</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">pcl::tracking::NearestPairPointCloudCoherence</a></div><div class="ttdoc">NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...</div><div class="ttdef"><b>Definition:</b> nearest_pair_point_cloud_coherence.h:19</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html_a886cd3411611a87520c7d3f387f23953"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html#a886cd3411611a87520c7d3f387f23953">pcl::tracking::PointCloudCoherence::coherence_name_</a></div><div class="ttdeci">std::string coherence_name_</div><div class="ttdoc">The coherence name.</div><div class="ttdef"><b>Definition:</b> coherence.h:120</div></div>
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